Arduino autopilot configuring slip flight and overriding roll algorithm?

Does the Arduino pilot software permit modifying the roll algorithm to permit flight in a slip condition (aka cross control flight with ailerons roll one direction and rudder canted in opposite direction)?

If so, direction for code sources would be greatly appreciated.

Thank you,
Oliver

The ardupilot software is open source, so you can do anything you wish.
Your best bet for advice would be to post on the diydrones forum.

If you tilt the ailerons. it MUST slip because it CAN'T hover in the same place if it is NOT level.
It is an intrinsic characteristic of both fixed wing aircraft and quad copters, the difference being that quadcopters need the nose
down for forward flight whereas fixed wing aircraft don't.